The time of the day can be seen visually - sun rises, it sets - but the time itself is via the menu.
Could the GUI be modified to display a rising and setting sun above the compass, similar to how Ultima 5 displayed time? The sun rises on the left side and moves across to the right side where it would set. At night, a full moon would be displayed rising, then setting as morning arrived. The in-game time could be displayed right above the compass.